Class MotionPrimitivesBaseController

Defined in File motion_primitives_base_controller.hpp

Inheritance Relationships

Base Type

public controller_interface::ControllerInterface

Derived Type

public motion_primitives_controllers::MotionPrimitivesForwardController (Class MotionPrimitivesForwardController)

Class Documentation

class MotionPrimitivesBaseController : public controller_interface::ControllerInterface

Subclassed by motion_primitives_controllers::MotionPrimitivesForwardController

Public Functions

MotionPrimitivesBaseController()

controller_interface::CallbackReturn on_init() override

controller_interface::InterfaceConfiguration command_interface_configuration() const override

controller_interface::InterfaceConfiguration state_interface_configuration() const override

controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Types

using MotionPrimitive = control_msgs::msg::MotionPrimitive

Protected Functions

void reset_command_interfaces()

bool set_command_interfaces()

Protected Attributes

std::string tf_prefix_

realtime_tools::LockFreeSPSCQueue<MotionPrimitive, 1024> moprim_queue_

std::atomic<bool> has_active_goal_ = false

rclcpp::TimerBase::SharedPtr goal_handle_timer_

rclcpp::Duration action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20))

bool print_error_once_ = true

std::atomic<bool> cancel_requested_ = false

std::atomic<bool> robot_stop_requested_ = false

bool was_executing_ = false

ExecutionState execution_status_

ReadyForNewPrimitive ready_for_new_primitive_

MotionPrimitive current_moprim_